关于重新建立平面、球面机构与结构自由度计算新公式的研究

从四杆机构具有灵活性和平面机构任意封闭图形具有3个约束数的理论出发，对机构学的自由度计算公式进行了研究。研究结果表明，新公式不仅比1896年俄国科学院院士契贝舍夫建立的公式更为简单明了，具有计算速度快的特点，而且还适用于单环、多环、开式链、闭式链、混合链、高副、周转轮系、汽车行星排及结构力学中的静定结构和超静定结构自由度的计算。为计算平面、球面机构与结构自由度提供了更为方便快捷正确的理论计算式。

RESEARCH ON REBUILD CALCULATING FORMULA OF DEGREE OF FREEDOM OF PLANE AND SPHERICAL SURFACE MECHANISM

Based on the theory that the four-bar mechanism has flexibility and three-connecting rod structure has stability, the calculating formula of degree of freedom of mechanism has been researched.The results of research indicate that the new calculating formula is more simple and clearer than the formula which was builded at 1896 by B. Blwe, who was a academician of the Russian Academy of Sciences.The formula has advantages of rapid computing speed .The new formula is suitable not only for single ring, multiple ring, open chain, closed chain, mixed chain, higher pair, turnover wheel and planet row of car, but also for calculating the degree of freedom of statically determinate mechanism and super statically determinate .The easy and correct theoretical calculating formula is provided for calculating degree of freedom of planar and spherical mechanism.